✦ LIBER ✦

Application of sliding-mode theory to direct yaw-moment control

✍ Scribed by Tohru Yoshioka; Tomohiko Adachi; Tetsuro Butsuen; Haruki Okazaki; Hirotaka Mochizuki

Publisher: Elsevier Science
Year: 1999
Tongue: English
Weight: 438 KB
Volume: 20
Category: Article
ISSN: 0389-4304
DOI: 10.1016/s0389-4304(99)00050-8

No coin nor oath required. For personal study only.

✦ Synopsis

It has become popular to control vehicle manoeuvering with independent brakes for the avoidance of spin and drift-out. To ensure e!ective control, we applied sliding-mode theory, which enabled a robust control system against various driving conditions including changes in velocity, road friction and vehicle weight. By estimating the tyre status with a simple tyre model, the side slip angle of vehicle and road friction, we made it possible to easily install the system on vehicles. Our system is also equipped with parameter identi"cation for correcting model errors. We con"rmed the e!ectiveness of our system through full vehicle simulation and "eld tests.

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